A Flexure-based Deployable Stereo Vision Mechanism and Temperature and Force Sensors for Laparoscopic Tools

This paper presents concepts, designs, and working prototypes of enhanced laparoscopic surgical tools. The enhancements are in equipping the tool with force and temperature sensing as well as image acquisition for stereo vision. Just as the pupils of our eyes are adequately spaced out and the distance between them is adjustable, two minute cameras mounted on a mechanism in our design can be moved closer or farther apart inside the inflated abdomen during the surgery. The cameras are fitted to a deployable mechanism consisting of flexural joints so that they can be inserted through a small incision and then deployed and moved as needed.A temperature sensor and a force sensor are mounted on either of the gripping faces of the surgical grasping tool to measure the temperature and gripping force, which need to be controlled for safe laparoscopic surgery. The sensors are small enough and hence they do not cause interference during surgery and insertion.Prototyping and working of the enhanced laparoscopic tool are presented with details

Image fusion in GRDSS for Land use Mapping

Image fusion techniques are useful to integrate the geometric detail of a high-resolution panchromatic (PAN) image and the spectral information of a low-resolution multispectral (MSS) image, particularly important for understanding land use dynamics at larger scale (1:25000 or lower), which is required by the decision makers to adopt holistic approaches for regional planning. Fused images can extract features from source images and provide more information than one scene of MSS image. High spectral resolution aids in identification of objects more distinctly while high spatial resolution allows locating the objects more clearly. The geoinformatics technologies with an ability to provide high-spatial-spectral-resolution data helps in inventorying, mapping, monitoring and sustainable management of natural resources. Fusion module in GRDSS, taking into consideration the limitations in spatial resolution of MSS data and spectral resolution of PAN data, provide high-spatial-spectral-resolution remote sensing images required for land use mapping on regional scale. GRDSS is a freeware GIS Graphic User Interface (GUI) developed in Tcl/Tk is based on command line arguments of GRASS (Geographic Resources Analysis Support System) with the functionalities for raster analysis, vector analysis, site analysis, image processing, modeling and graphics visualization. It has the capabilities to capture, store, process, analyse, prioritize and display spatial and temporal data.

A Multi-layer Perceptron based Non-linear Mixture Model to estimate class abundance from mixed pixels

Sub-pixel classification is essential for the successful description of many land cover (LC) features with spatial resolution less than the size of the image pixels. A commonly used approach for sub-pixel classification is linear mixture models (LMM). Even though, LMM have shown acceptable results, pragmatically, linear mixtures do not exist. A non-linear mixture model, therefore, may better describe the resultant mixture spectra for endmember (pure pixel) distribution. In this paper, we propose a new methodology for inferring LC fractions by a process called automatic linear-nonlinear mixture model (AL-NLMM). AL-NLMM is a three step process where the endmembers are first derived from an automated algorithm. These endmembers are used by the LMM in the second step that provides abundance estimation in a linear fashion. Finally, the abundance values along with the training samples representing the actual proportions are fed to multi-layer perceptron (MLP) architecture as input to train the neurons which further refines the abundance estimates to account for the non-linear nature of the mixing classes of interest. AL-NLMM is validated on computer simulated hyperspectral data of 200 bands. Validation of the output showed overall RMSE of 0.0089±0.0022 with LMM and 0.0030±0.0001 with the MLP based AL-NLMM, when compared to actual class proportions indicating that individual class abundances obtained from AL-NLMM are very close to the real observations.

Pixel based fusion using IKONOS imagery

Pixel based image fusion entails combining geometric details of a high-resolution Panchromatic (PAN) image and spectral information of a low-resolution Multispectral (MS) image to produce images with highest spatial content while preserving the spectral information. This work reviews and implements six fusion techniques – À Trous algorithm based wavelet transform (ATW), Mulitresolution Analysis based Intensity Modulation, Gram Schmidt fusion, CN Spectral, Luminance Chrominance and High pass fusion (HPF) on IKONOS imagery having 1 m PAN and 4 m MS channels. Comparative performance analysis of techniques by various methods reveals that ATW followed by HPF perform best among all the techniques.

A New Iterative FIR Filter for Image and Video Restoration

Image and video filtering is a key image-processing task in computer vision especially in noisy environment. In most of the cases the noise source is unknown and hence possess a major difficulty in the filtering operation. In this paper we present an error-correction based learning approach for iterative filtering. A new FIR filter is designed in which the filter coefficients are updated based on Widrow-Hoff rule. Unlike the standard filter the proposed filter has the ability to remove noise without the a priori knowledge of the noise. Experimental result shows that the proposed filter efficiently removes the noise and preserves the edges in the image. We demonstrate the capability of the proposed algorithm by testing it on standard images infected by Gaussian noise and on a real time video containing inherent noise. Experimental result shows that the proposed filter is better than some of the existing standard filters

A DCT Based Filtering of Biomedical Images

Image filtering techniques have numerous potential applications in biomedical imaging and image processing. The design of filters largely depends on the a-priori knowledge about the type of noise corrupting the image and image features. This makes the standard filters to be application and image specific. The most popular filters such as average, Gaussian and Wiener reduce noisy artifacts by smoothing. However, this operation normally results in smoothing of the edges as well. On the other hand, sharpening filters enhance the high frequency details making the image non-smooth. An integrated general approach to design filters based on discrete cosine transform (DCT) is proposed in this study for optimal medical image filtering. This algorithm exploits the better energy compaction property of DCT and re-arrange these coefficients in a wavelet manner to get the better energy clustering at desired spatial locations. This algorithm performs optimal smoothing of the noisy image by preserving high and low frequency features. Evaluation results show that the proposed filter is robust under various noise distributions.

Performance analysis for geometrical attack on digital image watermarking

We present a technique for irreversible watermarking approach robust to affine transform attacks in camera, biomedical and satellite images stored in the form of monochrome bitmap images. The watermarking approach is based on image normalisation in which both watermark embedding and extraction are carried out with respect to an image normalised to meet a set of predefined moment criteria. The normalisation procedure is invariant to affine transform attacks. The result of watermarking scheme is suitable for public watermarking applications, where the original image is not available for watermark extraction. Here, direct-sequence code division multiple access approach is used to embed multibit text information in DCT and DWT transform domains. The proposed watermarking schemes are robust against various types of attacks such as Gaussian noise, shearing, scaling, rotation, flipping, affine transform, signal processing and JPEG compression. Performance analysis results are measured using image processing metrics.

Multi-spectral satellite image classification using Glowworm Swarm Optimization

This paper investigates a new Glowworm Swarm Optimization (GSO) clustering algorithm for hierarchical splitting and merging of automatic multi-spectral satellite image classification (land cover mapping problem). Amongst the multiple benefits and uses of remote sensing, one of the most important has been its use in solving the problem of land cover mapping. Image classification forms the core of the solution to the land cover mapping problem. No single classifier can prove to classify all the basic land cover classes of an urban region in a satisfactory manner. In unsupervised classification methods, the automatic generation of clusters to classify a huge database is not exploited to their full potential. The proposed methodology searches for the best possible number of clusters and its center using Glowworm Swarm Optimization (GSO). Using these clusters, we classify by merging based on parametric method (k-means technique). The performance of the proposed unsupervised classification technique is evaluated for Landsat 7 thematic mapper image. Results are evaluated in terms of the classification efficiency - individual, average and overall.

Infrared Photodetectors Based on Reduced Graphene Oxide and Graphene Nanoribbons

The use of reduced graphene oxide (RGO) and graphene nanoribbons (GNRs) as infrared photodetectors is explored, based on recent results dealing with solar cells, light-emitting devices, photodetectors, and ultrafast lasers. IR detection is demonstrated by both RGO and GNRs (see image) in terms of the time-resolved photocurrent and photoresponse. The responsivity of the detectors and their functioning are presented.

Comparison of 10 Multi-Sensor Image Fusion Paradigms for IKONOS Images

Fusion of multi-sensor imaging data enables a synergetic interpretation of complementary information obtained by sensors of different spectral ranges. Multi-sensor data of diverse spectral, spatial and temporal resolutions require advanced numerical techniques for analysis and interpretation. This paper reviews ten advanced pixel based image fusion techniques – Component substitution (COS), Local mean and variance matching, Modified IHS (Intensity Hue Saturation), Fast Fourier Transformed-enhanced IHS, Laplacian Pyramid, Local regression, Smoothing filter (SF), Sparkle, SVHC and Synthetic Variable Ratio. The above techniques were tested on IKONOS data (Panchromatic band at 1 m spatial resolution and Multispectral 4 bands at 4 m spatial resolution). Evaluation of the fused results through various accuracy measures, revealed that SF and COS methods produce images closest to corresponding multi-sensor would observe at the highest resolution level (1 m).

Adaptive window zero-crossing-based instantaneous frequency estimation

We address the problem of estimating instantaneous frequency (IF) of a real-valued constant amplitude time-varying sinusoid. Estimation of polynomial IF is formulated using the zero-crossings of the signal. We propose an algorithm to estimate nonpolynomial IF by local approximation using a low-order polynomial, over a short segment of the signal. This involves the choice of window length to minimize the mean square error (MSE). The optimal window length found by directly minimizing the MSE is a function of the higher-order derivatives of the IF which are not available a priori. However, an optimum solution is formulated using an adaptive window technique based on the concept of intersection of confidence intervals. The adaptive algorithm enables minimum MSE-IF (MMSE-IF) estimation without requiring a priori information about the IF. Simulation results show that the adaptive window zero-crossing-based IF estimation method is superior to fixed window methods and is also better than adaptive spectrogram and adaptive Wigner-Ville distribution (WVD)-based IF estimators for different signal-to-noise ratio (SNR).

Polymer based photo detectors

Recent developments in our laboratory related to polymer-based light sensors are reviewed. The inherent processibility of the active polymer medium is utilized in the implementation of different designs for the opto-electronic applications. The utility of these devices as sensitive photodetectors, image sensors and position sensitive detectors is demonstrated. The schottky-type layer formation at interfaces of polymers such as polyalkylthiophenes and aluminum accompanied by the enhanced photo-induced charge separation due to high local electric field is tapped for some of these device structures. The sensitivity of polymer-based field effect transistors to light also provides a convenient lateral geometry for efficient optical-coupling and control of the transistor state. ne range of these polymer-detectors available with the option of operating in the diode and transistor modes should be an attractive feature for many potential applications.

A stochastic dynamical system for image segmentation

Image segmentation is formulated as a stochastic process whose invariant distribution is concentrated at points of the desired region. By choosing multiple seed points, different regions can be segmented. The algorithm is based on the theory of time-homogeneous Markov chains and has been largely motivated by the technique of simulated annealing. The method proposed here has been found to perform well on real-world clean as well as noisy images while being computationally far less expensive than stochastic optimisation techniques

Uncertainty visualization using HDR volume rendering

In this paper, we explore a novel idea of using high dynamic range (HDR) technology for uncertainty visualization. We focus on scalar volumetric data sets where every data point is associated with scalar uncertainty. We design a transfer function that maps each data point to a color in HDR space. The luminance component of the color is exploited to capture uncertainty. We modify existing tone mapping techniques and suitably integrate them with volume ray casting to obtain a low dynamic range (LDR) image. The resulting image is displayed on a conventional 8-bits-per-channel display device. The usage of HDR mapping reveals fine details in uncertainty distribution and enables the users to interactively study the data in the context of corresponding uncertainty information. We demonstrate the utility of our method and evaluate the results using data sets from ocean modeling.